JP2501862Y2 - Conveyor positioning device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention relates to a conveyed object positioning apparatus for supporting a conveyed article on a pallet and correcting the posture of the conveyed article, and more particularly to a vehicle body conveying apparatus in an automatic assembly line of an automobile. The present invention relates to a conveyed object positioning device suitable for use in combination.

[Conventional technology]

As seen in the example of attaching window glass to the car body (body) in an automobile assembly line, parts with complicated shapes and structures are automatically processed by using robots in the manufacturing process of products. It is essential to position the work with respect to the robot with high accuracy in order to assemble the work.

As a technique for delivering and accurately positioning a work in such a manufacturing process, Japanese Patent Laid-Open No. 60-179376
There is a technique described in Japanese Unexamined Patent Application Publication No. HEI 9-86. This is because, as shown in 59 Figure (step conceptual diagram), receives the workpiece W from the slat conveyor in front P point P ₀ to the positioning and transport to the working position P _0, stops at the working position P ₀ This is done for positioning, and in this stopped state, the reference axis of the work is first
The positional deviation between the work W and the work robot is made constant by correcting the angular deviation θ with respect to BL, then correcting the lateral deviation Z, and finally correcting the longitudinal deviation X. Then, after the assembly of the parts by the robot at that position, the work W is sent a predetermined distance forward P ₁ and placed on the next slat conveyor.

The work positioning device 01 is configured as shown in FIGS. 60 and 61 (side view and front view), and is located outside the slat conveyor 02 and the position adjusting device 03 disposed between the pair of slat conveyors 02. It is equipped with a first length measuring device 04 and a second length measuring device 05 installed in the. Position adjustment device 03
Is configured so that it can be reciprocated along the slat conveyor 02 by the chain conveyor 08 installed in the pit 07 dug down from the floor 06, and along the rail 09 as shown in FIG. 62 (side view). Base 011 driven in the front-back direction by the chain conveyor 08 via the roller 010, and the base 011
A front-rear moving table 012 that is placed on the base 011 and is slidable in the front-rear direction with respect to the base 011; a lift table 013 that is placed on the front-rear moving table 012 and can move up and down with respect to the same; A left / right moving base 014 placed on the top and left / right movable with respect to the same base, and a rotary base 0 placed on the left / right moving base 014 and rotatable with respect to the same base.
It has 15 A work receiver 016 that supports the work W is provided on the rotary table 015, and the front-rear moving table 0
A flexible supply line 017 for supplying power to the position adjusting layer 03 from a fixed point in the pit 07 is provided at 12.

[Problems to be solved by the device]

By the way, the conventional work positioning device as described above has the following problems.

(1) If such an apparatus is applied to a multi-stage manufacturing process, it is necessary to integrally install the same position adjusting device 03 and length measuring devices 04 and 05 in each process, which results in a large line. This leads to increased cost and equipment cost, and it is difficult to improve productivity due to increased need for maintenance, resulting in an increase in product cost.

(2) Since the work positioning device 01 is a mobile type that travels in the conveyance direction of the work W along the rail 09 installed on the bottom surface of the pit 07, it has a long flexibility for supplying electric power and hydraulic pressure to the device. Although the supply line 017 is required, it is difficult to configure the hydraulic supply line having high rigidity to cope with the reciprocating movement of the positioning device 01 without resistance.

(3) A large and heavy work positioning device 01 must be reciprocated along the line, and must be securely stopped at a fixed position and firmly locked, so a highly rigid support track that can withstand heavy weight. In addition, a large-scale stopping device capable of absorbing a large inertial force and a locking device having excellent fastening force are required.

Considering the causes of these problems, it can be understood that the problems are that the posture of the work as an object once established is destroyed every time it is transferred, and that the positioning device is movable. Therefore, assuming a transfer system in which a work transferred by an overhead conveyor is carried into a transfer device on an assembly line via a table lifter, a fixed work transfer is performed between the table lifter and the transfer device on the assembly line. And a positioning device and a conveyor that can carry the work while maintaining the positioning posture of the work, that is, the work is step-carried through a pallet that is placed at a predetermined position by a shuttle beam that is moved back and forth in the carrying direction of the assembly line. These problems should be solved if a measure is taken in combination with a transporting device that operates.

The present invention is intended to solve these problems, and a pallet whose transfer is controlled to each transfer position is interposed between a transfer object and a conveyor that transfers the transfer object so that each transfer position is controlled. It becomes unnecessary to measure and correct the posture of the transported object for each of the positions, and by changing the delivery method between the table lifter and the transportation device of the assembly line, the positioning device does not travel in the workpiece transportation direction. It is an object of the present invention to provide a conveyed object positioning device that can be fixed and that simplifies the positioning of conveyed objects and enhances efficiency.

[Means for solving the problem]

In order to achieve the above-mentioned object, a transport object positioning device of the present invention is a transport object positioning device installed between a table lifter and a transport device that transports a pallet stepwise by a shuttle beam that is moved back and forth in the transport direction. , A base frame as a base, a horizontal frame supported on the base frame, a longitudinal table, an elevating table, and a shaft which is positioned at the highest position and stands upright in the center of the elevating table. A movable table composed of a rotating table supported, a rail provided on the upper surface of the rotating table as a support device for the pallet extending in the carrying direction, and a pallet mounted on the rail are clamped. In order to do so, a trolley clamp device serving as a pallet restraining means composed of a clamp pawl provided on the rotary table and an operating cylinder thereof. A shuttle beam guide roller provided on the rotary table as a guide device for the shuttle beam, and a transported object carried into the table lifter on each of the lateral movement frame, the longitudinal movement table and the rotary table. Regarding the posture and position in the horizontal plane, the lateral movement frame, the longitudinal movement table, and the rotary table are used as references according to the measurement results of the inclination with respect to the reference axis line and the deviation with respect to the reference position line measured by the device for measuring the posture of the conveyed object. A drive device is provided for moving the posture and the reference position to the left, right, front and rear, and rotating and returning to the original reference posture and the reference position, and the lifting table is moved up and down together with the rotation table to move the transported object. After transferring from the table lifter to the rotary table, hold it in the transport position. Of the hydraulic cylinder is provided in the back-and-forth movement table, engageable engaging holes the carrying pins of the shuttle beam is characterized in that it is provided in the pallet.

[Action]

In the above-described transported object positioning apparatus of the present invention, first, the pallet is restrained and held at a predetermined position on the rotary table by the pallet restraining means. On the other hand, the lateral movement frame (42), the forward-backward movement table (43), and the rotary table (45) are operated so that the pallet is aligned with the posture position of the conveyed object according to the measurement result of the measuring device such as the conveyed object posture. Alignment for coalescing is performed.

When the alignment is completed, the elevating table (44) is lifted by the extension operation of the hydraulic cylinder (433), and the transferred article is transferred to the rotary table.

Here, the fork of the table lifter 2 is retracted to a position that does not hinder the descent of the workpiece W, and then the lateral movement frame (42), the longitudinal movement table (43) and the rotary table (4
5) is operated, and the posture / position correction operation is performed so that the pallet combined with the conveyed object is again aligned with the reference axis line BL and the reference position line TL.

When such an operation is performed, the transported object supported by the pallet is automatically positioned at the transportation position that matches the center line of the transportation path of the pallet in the transportation posture according to the posture / position correction of the pallet. become.

And a shuttle beam (67) carrying pin (674)
When is driven upward, the transport pin engages with the engagement hole (561) of the pallet and the shuttle beam moves in the transport direction, so that the pallet on which the transport object is placed is transported.

〔Example〕

Next, an embodiment of the present invention will be described. FIG. 1 is a procedure explanatory view conceptually showing an operation in a processing line to which a conveyed object positioning device as one embodiment of the present invention is applied.
2 is a block diagram thereof, FIG. 3 is an overall plan view thereof, FIG. 4 is a right side view thereof, and FIG.
FIG. 6 is its plan view, FIG. 7 is its rear view, and FIG. 8 is its front view.

First, a description will be given of an automatic assembly line of an automobile to which a transported object positioning apparatus according to an embodiment of the present invention is applied. As shown in FIGS. The operation can be started by placing the body W, which is an object to be conveyed on the conveyor for use, in the temporary support state in the same posture. At that time, the body W is the first
As shown in FIG. 10A, the angle deviation θ and the lateral deviation Z are maintained with respect to the reference axis BL of the pallet C, and the longitudinal deviation X is maintained with respect to the reference position line TL. Therefore, these deviation amounts are measured and, as shown in FIG. 1B, the pallet C is aligned with the combined position according to the measurement result. After this alignment is completed, the pallet C is then combined with the body W. Further, as shown in FIG. 1 (c), the pallet C combined with the body W is again put into the reference axis BL.
And adjust the position to match the reference position line TL. When this position correction is completed, the pallet C is step-transported in the direction of the arrow by the conveyor and is transported to a position that matches the reference position line TL of each processing work position.

In the above line, once the pallet C is joined to the body W, the positional relationship between the pallet C and the body W is fixed, so that the pallet C is moved to each processing work position by the conveyor.
When the body W and the body W are transported, the angle θ of the body W and the lateral shift X do not occur.

Therefore, only by positioning the pallet C on the reference position line TL at each processing position by the conveyor, the relative positioning with the robot or the like arranged on the line is automatically established. Become.

Next, as shown in FIGS. 2 to 8, this line is an overhead conveyor 1 as a conveyor for the previous process.
Of the body W supported by the fork 21 of the table lifter 2 and the table lifter 2 that supports the body W that is conveyed on the hanger 11 and is supported in a temporarily supported state according to the attitude that the body W is conveyed. Vehicle body position measuring device 3 for measuring an angle deviation θ, a lateral deviation Z and a longitudinal deviation X
With

Further, this apparatus includes a carriage 5 as a pallet C which is carried on a conveyor 6 along a parts assembly line,
A positioning device 4 for correcting the position of the carriage 5 is adjusted to an unification position for adjusting the angular deviation θ of the body W, a lateral deviation Z, and a longitudinal deviation X and a carrying position for matching the carrying attitude of the conveyor 6 along the component assembly line. I have it.

The conveyor 6 along the parts assembling line is provided with a shuttle as a step carrying means for carrying while restricting only the flow direction position in the parts assembling line of the carriage 5 for each parts assembling work position as each processing work position. Form a body transport device.

Of course, as shown in FIG.
A control unit that controls each operation is provided, and a general control system that makes each control unit perform an associated operation is provided. In FIGS. 2 to 6 and 8, reference numeral 7 indicates a wholesaler, the structure and operation of which will be described later.

In the above-mentioned line, the fork 21 of the table lifter 2 temporarily supports the body W, which is carried on the hanger 11 of the overhead conveyor 1, in a posture corresponding to the carrying posture, and the vehicle body position measuring device 3 is a part assembly line. The functions of measuring the angle deviation θ with respect to the reference axis BL, the lateral deviation Z, and the longitudinal deviation X with respect to the reference position line TL are performed. On the other hand, the positioning device 4 controls the position of the carriage 5 based on the above measurement result so as to match the respective deviations θ, Z, and X of the body W, and then integrates the carriage 5 with the body W to integrate them. And the dolly 5 which was united with the Body W
Is set to 0 with respect to the reference axis line BL and the left-right direction shift Z so as to match the conveyance posture of the conveyor 6 along the component assembly line, and the front-back direction shift X with respect to the reference position line TL is set.
The operation of returning to the transport position is performed so that is set to zero. Thus, when the trolley 5 is in the transporting posture, the conveyor 6 along the component assembly line secures the trolley 5 at the respective flow direction positions TL in the component assembly line at each assembly work position 1ST to 7
Performs the function of transporting to ST.

As shown in FIGS. 3 and 4, with respect to the body W stepwise conveyed to each of the assembling work positions 1ST to 7ST, the spare tire loading device is installed at the first station 1ST where the positioning device is disposed. 91 is provided. Below, the second station 2ST has a left tire assembling device 92 and a right tire assembling device 93, and the third station 3ST has a body primer applying device 94, a radiator grill assembling device, and a battery assembling device 9.
5, 4th station 4ST is filled with power steering oil, engine mount tightening device 96, 5th station 5ST is rear bumper assembling device 97, strut tightening device 98, and 6th station 6ST is quarter window glass assembling device 99. ,
A front bumper assembling device 100 and a brake fluid filling clutch fluid filling device 101 are provided, and the final seventh station is the disposing position of the unloading device.

Further, each device in the above line of the present invention will be described in detail. FIGS. 9 to 13 show a table lifter, FIG. 9 is a front view thereof, FIG. 10 is a left side view thereof, and FIG. FIG. 12 is a plan view thereof, FIG. 12 is a partially enlarged rear view thereof, and FIG. 13 is a sectional view taken along line XIII-XIII of FIG.

As shown in FIGS. 9 to 11, the table lifter 2 is provided with a pair of left and right hollow cylindrical posts 22 and their upper ends are connected by a horizontal beam 23. A guide rail 221 is provided so as to extend in the vertical direction, and a lifter 212 that moves up and down by being guided by a guide roller set 211 including three rollers that sandwich the respective guide rails 221 is provided.

Each of the lifters 212 is provided with a pair of front and rear body supporting forks 21 arranged laterally and moved in the left-right direction by being guided by the guide roller set 211, and the right lifter 212 is further provided with a lifter 212. Of which one end is pivotally attached to the front side of the
A fall prevention arm 24 for supporting the front part of the body W is attached. A pair of left and right hanger guides 231 and a hanger opening device 25 are hung below the lateral beam 23, and a lifting drive device 26 for the lifter 212 is placed above the lateral beam 23.

The hanger releasing device 25 includes an opening arm 251, an air cylinder 252, and a link 253 connecting them, and the hanger guide 231 includes a guide rail 232 that also serves as a horizontal guide and a horizontal guide for the hanger 11 of the overhead conveyor 1. The elevator drive device 26, as shown in detail in FIGS. 12 and 13, includes a motor 261, a speed reducer 262, and a pair of chain sprockets 263 disposed immediately above the posts 22.
Flexible coupling 264 to chain sprocket 263
In addition to providing a connecting shaft 267 that is connected via a shaft, as shown in FIG. 10, a counterweight 268 is provided in the post 22 so as to be guided up and down along the inner circumference thereof. And 2
Each chain 269 is meshed with each chain sprocket 263 in the vicinity of its central portion, one end is hung down along the outside of the post 22, the end is fixed to the upper part of the lifter 212, and the other end is fixed to the post 22. It hangs along the inside, and the end is fixed to the upper end of the counterweight 268.

It should be noted that stoppers 222, 223 for restricting the vertical movement of the lifter 212 are attached to the insides of the lower ends and the front sides of the upper ends of both posts 22. An inspection deck 233 for inspecting and maintaining the elevating and lowering drive device 26 is provided on the left and right front of the lateral beam 23, and a ladder 234 allows the personnel to ascend and descend.

In the table lifter 2 thus configured,
As shown in FIG. 10, when the body W is placed on the hanger 11 of the overhead conveyor 1 and fed in, the hanger
A guide rail 232 guides the front and rear and left and right, and 11 is placed at a predetermined position with respect to the table lifter 2. Here, the air cylinder 252 is operated, the opening arm 251 is swung via the link 253, the upper end of the hanger 11 is pushed up, and the lower end of the hanger 11 opens left and right. Body W is supported by. The lifter 212 supporting the body W is the chain 269 of the motor 261.
Is lowered until it comes into contact with the stopper 223. At this time, the fall prevention arm 24 is pushed out by the air cylinder 214 in front of the body W supported by the four points in the central portion, and functions to prevent the body W from falling. The fork 21 that has reached the lowered position is then subjected to position measurement by the vehicle body position measurement device 3, and the position is maintained until the positioning device 4 operates and lifts the body W. When the body W is lifted by the positioning device 4, the fork 21 retracts to the left and right, the fall prevention arm 24 also retracts, and then the lifter 21.
2 is moved forward again at the position raised by the elevating / lowering drive device 26 until it comes into contact with the stopper 222, so as to support the next body W.

According to this table lifter 2, the left and right lifters 212
Since the chain sprocket 263, which constitutes the lifting drive device 26 for lifting and lowering the robot, is configured to rotate symmetrically and also to be completely synchronized in the left and right direction by the connecting shaft 267, a left-right synchronization shift due to a change in chain length with time occurs. Since it is difficult, it is possible to obtain the effect that adjustment of the chain length is unnecessary.

Next, FIGS. 14 to 16 show a vehicle body position measuring device as a workpiece posture measuring device, and FIG. 14 is its plan view and FIG.
The figure is a right side view thereof, and FIG. 16 is a rear view thereof.

The vehicle body position measuring device 3 measures the posture of the body W supported on the fork 21 of the table lifter 2. As shown in FIGS. 14 to 16, the lateral position (BL) measuring device is used.
3a and the front-back position (TL) measuring device 3b. The BL measuring device 3a is located on the left side of the line and is located at the post 22 of the table lifter 2.
, And the TL measuring device 3b is obliquely installed on the right side of the line behind the post 22 of the table lifter 2.

The BL measuring device 3a is disposed laterally on the pedestal 31a and has a pair of front and rear magnetic scales 32a. The tip of these magnetic scales 32a has a tip with which the tactile force arm 3 abutting against the body W is contacted.
3a is provided and a magnetic scale 32 is provided on its side.
An air cylinder 34a that is arranged parallel to a and drives the magnetic scale 32a is provided, and the piston rod end of the air cylinder 34a is attached to the tip of the magnetic scale 32a.

Then, the magnetic scale 32a is placed at an appropriate position on the mount 32a.
A detection head 35a for detecting the amount of movement of the is provided.

On the other hand, the TL measuring device 3b is slidably supported in the horizontal direction on the upper part of the pedestal 31b, and is attached to the tip of a slide fitting 33b which is extendable between the measurement position and the retracted position with respect to the pedestal 31b by the air cylinder 32b. The measurement arm 35b, which is disposed and pivotally attached at one end to the slide metal fitting 33b, and which is driven by an air cylinder 34b installed upright on the slide metal fitting 33b, and a measurement arm 35b.
A magnetic scale 36b slidably supported on the lower surface of the, and a detection head 37b also mounted on the lower surface of the measuring arm 35b,
It is composed of an air cylinder built in the measuring arm 35b, and a jaw 39b which is connected to the rod end of the air cylinder and the tip of the magnetic scale 36b and has a pressure plate 38b at the lower end.

In the vehicle body position measuring device 3 configured in this way,
In the BL measuring device 3a, the magnetic scale 32a is pushed to the right by the air cylinder 34a to measure the deviation from the reference position at two positions on the left and right of the body W supported on the fork 21, and the ejecting arm 33a is moved. The deviation of the magnetic scale 32a with respect to the reference feeding amount when it comes into contact with the body W is detected by the detection head 35a, and the angular deviation θ and the lateral deviation Z are measured. On the other hand, in the HL measuring device 3b, the slide fitting 33b is pushed out by the air cylinder 32b in order to measure the deviation of the position of one point on the upper surface of the body W from the reference position, and then the measuring arm 35b is lowered to the horizontal position by the air cylinder 34b. Then, when the magnetic scale 36b is retracted and the pressure plate 38b is brought into contact with the body W, a deviation of the magnetic scale 36b from the reference feeding amount is detected by the detection head 37b, and the deviation X in the front-rear direction is measured. Then, these measured values are used to control the positioning device 4 via the control system. When the measurement is completed, the air cylinder 34a, the slide fitting 33b, and the magnetic scale 36b are returned to the initial positions and are in a retracted state for the transfer of the body W.

Next, FIGS. 17 to 19 show a conveyed object positioning device as one embodiment of the present invention. FIG. 17 is a left side view of the same, and FIG.
FIG. 18 is its rear view and FIG. 19 is its plan view.

The positioning device 4 supports a body W as a conveyed product via a carriage 5 as a pallet.
As shown in FIG. 19, it is provided with a base frame 41 as a base, a lateral movement frame 42 as a moving table, a forward / backward moving table 48, a lifting table 44, and a rotary table 45 as a table.

The base frame 41 is configured as a rectangular frame that is long in the front-rear direction, and is supported by the jack base of the pit via the screw jacks 411, and linear grooves that are provided in the vicinity of the four corners of the upper surface are provided in the left-right direction. guide
It has 412. A drive device 413 for driving the lateral movement frame 42 in the left-right direction is provided on the right side of the base frame 41, and the drive device 413 is configured to rotate the servo motor 414 via a toothed pulley and a toothed belt. Ball feed screw shaft 41
5, a belt transmission mechanism for transmitting to a toothed pulley mounted on 5, a slide block 417 which is guided by a guide 416 by the rotation of a ball feed screw shaft 415 to move in the axial direction, and a movement frame 42 for the movement of the slide block 417. And a link 418 that transmits to a bracket 426 of the.

Like the base frame 41, the lateral moving frame 42 is configured as a rectangular frame that is long in the front-rear direction, and rails that extend in the left-right direction near the four corners of the lower surface thereof and fit into the above-described guide groove.
421, and a linear guide 422 provided with guide grooves extending in the front-rear direction slightly inside the four corners of the upper surface. Behind the lateral movement frame 42, a drive device 423 for driving the forward-backward movement table 43 in the front-rear direction is provided, and the drive device 423 is provided in the base frame 41 and configured similarly to the drive device 413. , A link 425 for transmitting the movement of the slide block 424 to the bracket of the forward / backward movement table 43.

The forward / backward moving table 43 is configured as a rectangular table having a width slightly narrower than that of the base frame 41 or the horizontal moving frame 42, and fits in the guide groove of the linear guide 422 of the horizontal moving frame 42 near the four corners of the lower surface thereof. A rail 431 extending in the front-rear direction is provided. A slide guide 432 vertically penetrating the table 43 is attached to the front side and the rear side of the forward / backward movement table 43, and a hydraulic cylinder 433 is fixed to the center of the table 43.

An elevating table 44 is placed on the forward / backward moving table 43, and a tip of the rod of the hydraulic cylinder 433 is attached to a joint 441 attached to the lower surface of the central portion of the elevating table 44. Guide rods 442, whose upper ends are fixed to the table 44 and extend vertically downward, are provided on the front side and the rear side of the elevating table 44, and these guide rods 442 are fitted to the slide guides 432. And is vertically slidably supported by a bearing arranged on the inner surface thereof. A shaft 443, which stands upright at the center thereof, is fixed to the upper surface of the lifting table 44, and is arranged near four corners of the table 44 on a concentric circle centered on the shaft 443 to support the lower surface of the rotary table 45. Rollers 444 are provided. Further, a drive device 445 for rotating the rotary table 45 is provided on the rear portion of the upper surface of the elevating table 44, and the drive device 445 has the same configuration as the above-mentioned drive device, but is designed to give the table 45 a rotational movement. Unlike the above, the disposing direction is parallel to the table 45, and of course, the slide block 446 is the rotary table 45.
It is attached to the bracket of a via a link 447 that rotates in the water surface.

The rotary table 45 is mounted by being supported by rollers 444 provided on the upper surface of the lifting table 44, and a pair of upper and lower roller bearings into which a shaft 443 standing upright at the center of the lifting table 44 is fitted at the center thereof. It has 451.

On the upper surface of the rotary table 45, there are installed a carriage support device as a pallet mounting portion, a shuttle beam guide device, a pin roller guide extension portion, and a carriage clamp device as a pallet restraining means. The trolley support device includes rails 452 provided along the left and right edges of the rotary table 45 and extending in the front-rear direction, a front-rear beam 453 supporting the rail 452, and a vertical beam 454 supporting the rail 453 at three positions. A bracket 455 is provided so as to project from the innermost front part of the horizontal beam 453, and a carriage introduction roller 456 attached to the inner end of the bracket 455 so as to rotate around the horizontal axis.

The shuttle beam guide device is arranged in the front part inside the carriage support device, and is vertically and horizontally attached to the upper surface and the inner surface of four brackets 457 in total in the front, rear, left, and right, which are provided upright on the upper surface of the rotary table 45. A shuttle beam guide roller group 458 that rotates by being supported by a rotation shaft provided is provided.

A pair of trolley clamp devices is attached to the right side of the rotary table 45, and includes a bracket 459, a clamp pawl 460 pivotally attached to the upper end of the bracket 459 around the longitudinal axis, and a clamp pawl 4.
It is equipped with a clamp pawl operating cylinder 461 that swings 60. It should be noted that the further detailed structure and operation of this trolley clamp device will be replaced by the following description of the trolley clamp provided on the conveyor device 6a of the conveyor 6 having the same structure and action.

The pin roller guide extension portion 462 is provided inside the shuttle beam guide device, and is configured by attaching one outer surface of the L-shaped section member in the horizontal front-rear direction.
A bracket 463 that extends outward and downward beyond the front end of the rotary table 45 is integrally provided at the front end of the extension portion 462, and an air cylinder 464 is pivotally attached to the tip of the bracket 463. A guide plate 465 is attached to the upper end of the bracket 463.
A rod end of an air cylinder 464 is pivotally attached below the 65. The pin roller guide extension is provided with a knuckle 466 that moves up and down. Regarding the configuration and operation of this knuckle 466, the knuckle of the transport device 6a having the same configuration and operation will be described later. The description replaces the description.

In the body positioning device configured as described above, the carriage 5 is placed on the rail 452, clamped by the clamp pawls 460, and is supported by the fork 21 of the table lifter 2 just above the carriage pawl 460 so that the posture of the body W is maintained. The lateral movement frame 42, the forward-backward movement table 43, and the rotary table 45 are operated so as to be aligned with, and alignment for uniting is performed. When the alignment is completed, the elevating table 44 is guided by the guide rod 442 by the extension operation of the hydraulic cylinder 433 and is raised while maintaining the respective positions, and then the carriage 5 is united with the body W as the workpiece and further lifted slightly. To be Here, the fork 21 of the table lifter 2 is retracted to the left and right, and escapes to a position that does not hinder the lowering of the body W as a workpiece. Therefore, this time, in order to return the carriage 5 to the transporting posture, the horizontal moving frame 42, the forward / backward moving table 43, and the rotary table 45.
Are operated at the same time. Following this, the hydraulic cylinder 433 is contracted and the lift table 44 is lowered to the transport position. The delivery of the carriage 5 to the conveyor 6 and the reception thereof will be described later in the description of the operation of the conveyor 6.

Since the positioning device 4 is configured as described above, by simultaneously driving the three driving devices 413, 423, 445, the carriage 5 can be positioned in an arbitrary posture in the horizontal plane, and the rotary table can be positioned. 45 is provided at the top,
By arranging the center of rotation and the center of the carriage 5 so as to coincide with each other, it is possible to obtain an effect that the calculation for movement is simplified.
Further, since this positioning device is mounted on the fixed base frame 41, there is also an advantage that power can be supplied by an extremely simple means.

Next, FIGS. 20 to 22 show a truck as a pallet. FIG. 20 is a left side view thereof, FIG. 21 is a plan view thereof, and FIG.
The figure is its rear view.

The carriage 5 has a body W placed thereon and is conveyed by a conveyor 6. As shown in FIGS. 20 to 22, the carriage 5 is mainly in contact with a U-shaped member, and a pair of front-rear frames 511 are connected to each other.
The horizontal frames 512 of the book are connected to each other in a ladder shape to form a bogie frame 51.

A front arm 513 and a rear arm 514, which are arranged in front of and behind the bogie frame 51 and extend laterally beyond the width of the bogie frame 51, are provided on the upper surface of the bogie frame 51. A pair of body receivers 52a are attached to the upper surface, and a pair of front and rear body receivers 52b and 52c are attached to the upper surfaces of the outermost ends of the rear arm 514. A standing wall 521 that engages with the inner surface of the body W is attached to the inner surface of the rearmost body receiver 52c. Front arm 513
A pair of left and right positioning pin brackets 515 are provided at the foremost portion near the outer end of the, and a positioning pin 53 that is upright and engages with the positioning hole of the body W is provided at the uppermost end thereof.

Under the front arm 513 and the rear arm 514 of the bogie frame 51, supporting shafts that are all through are supported, and wheels 54 constituted by outer races of ball bearings are supported at both ends of these supporting shafts.

On the lower surface of the bogie frame 51, three left and right guide rollers 55 are provided, the outer circumference of which is slightly projected from the frame width.

Also, the first and second lateral frames 51 of the bogie frame 51.
A transfer pin engagement bush 56 is attached between the two, and the bush 56 is formed so that the lower edge of the pin engagement hole 561 is chamfered in a conical shape to facilitate engagement and disengagement of the pin. ing.

Further, a pair of clamp pawl engagement blocks 57 are attached to the front and rear on the right side surface of the bogie frame 51, and wedge-shaped notches 571 are formed on the outer side surfaces of these blocks 57.
Further, a pair of front-rear frames 516 are provided in parallel with the inside of the bogie frame 51, and a support plate 517 for the chain conveyor is attached along the lower surface thereof. Further, a pressing rod 58 is provided so as to project forward from the foremost lateral frame 512.

A stopper 518 that absorbs the impact of a collision is provided at the rear end of the bogie frame 51.

With the trolley 5 configured in this way, the body W
The positioning hole of and the positioning pin 53 of the carriage 5 are engaged,
The body W is positioned in the horizontal plane with respect to the carriage 5, and is vertically positioned by the six body receivers 52a to 52c.

Next, FIGS. 23 to 45 show the conveyor along the processing line, and FIG. 23 is a rear view of the holder frame assembly,
FIG. 24 is a rear view of a part thereof, FIG. 25 is a plan view thereof, and FIG.
Figure is a rear view of some other parts. Figure 27 is a rear view of the shuttle lock of the shuttle conveyor, and Figure 28 is its plan view.
Fig. 29 is its left side view, Fig. 30 is its left side view of its shuttle beam guide, Fig. 31 is its plan view, Fig. 32 is its rear view, and Fig. 33 is its plane of shuttle beam. Figure, Figure 34 is its rear view, Figure 35 is a plan view of other parts,
FIG. 36 is its rear view, FIG. 37 is its side view, and FIG.
The figure is a rear view of the shuttle beam drive system.
Figure is a rear view of the positioning pin shift mechanism, Figure 40 is its plan view, Figure 41 is its left side view, Figure 42 is its left side view of its bogie return drive device, and Figure 43 is its plan view. , First
FIG. 44 is a sectional view taken along the line XLIV-XLIV in FIG. 43, and FIG. 45 is a rear view thereof.

The conveyor 6 is composed of a shuttle conveyor 61 as a carrier device 6a of the carriage 5 and a chain conveyor 62 as a return device 6b. The shuttle conveyer 61 and the chain conveyer 62 are integrally assembled in the main body frame assembly 63 in upper and lower two stages.

First, in the main body frame assembly 63, as shown in FIGS. 23 to 26, the return path of the carriage 5 is set to the floor level, the chain conveyor 62 is built in the lower part thereof, and the shuttle conveyor 61 is placed in the upper part. It is a two-story truss structure.

A pair of left and right beams 632 are disposed on the horizontal frame 631 above the main body frame assembly 63 so that the height of the beams 632 can be adjusted by bolts via floor plates, and rails 633 are bolted onto the beams 632. This rail 633 has a dolly 5 on its upper surface.
The wheels 54 run, and in order to form a bogie track whose inner surface serves as a guide surface for the left and right guide rollers 55, the wheel frame 54 extends slightly above the entire length of the main body frame assembly 63.

On the right outside of each process position of the beam 632, the 27th to 2nd
As shown in FIG. 9, a pair of trolley locks 64 are attached.The trolley locks 64 include a main body 64a having a mounting bracket 641 attached to the beam 632 and a main body 64a.
Cylinder bracket 642 mounted on the lower outer side of
An air cylinder 643 having a trunnion axially supported by a cylinder bracket 642, and a pivotally supported upper portion of the main body 64a, a clamp pawl 644 at its inner end, and an outer end attached to the rod tip of the air cylinder 643. Knuckle 645
And a clamp 64b pivotally supported on the. And
The clamp 64b and the main body 64a are provided with stoppers 646 and 647 that regulate the clamp position, respectively. Further, the clamp pawl 644 attached to the tip of the clamp 64b has a wedge shape whose width is narrowed toward the tip thereof, and the clamp pawl engagement block 57 of the carriage 5 is provided on the lower surface side of the wedge. A tapered portion 648 that guides engagement with the provided wedge-shaped notch 571 is formed.

In the trolley lock 64 configured in this way, when the trolley 5 that has been conveyed stops at each process position, the air cylinder 643 of the trolley lock 64 moves to the notch 571 of the clamp pawl engagement block 57 of the clamp pawl 644. At the time of biting, the wedge shape of the clamp pawl 644 causes the carriage 5 to automatically position the left guide roller 55 with respect to the left rail 633, and the carriage 5 is accurately positioned at each process position. Further, since the clamp pawl 644 is pressed into the notch 571, it is restricted by the engagement of the stopper 646 and the stopper 647, so that the left and right guide rollers 55 are not excessively pressed. Thus, according to the carriage lock 64, the carriage 5 can be accurately positioned in the front-rear direction and the left-right direction of the line only by the operation in the single direction. Also, with this dolly lock 64, left and right guide rollers 55 and rails 63
Since there is no excessive stress load on 3, it is possible to obtain the effect of preventing these wear and deformation.

Further, as shown in FIG. 23, a pin roller guide 65 is provided between the beams 632, and the pin roller guide 65 is made of a material having an L-shaped cross section, and is angled upright on the horizontal frame 631. Attached to and supported by the material, the guide surface extends the entire length of the body frame assembly 63. And, each process position of this pin roller guide 65 (trolley lock
As shown in FIG. 25, a mountain-shaped cutout 651 is provided at the front side of 64, which coincides with the clamp claw position on the front side.

Similarly, at some positions between the beams 632, guide devices 66 for the shuttle beams 67 mounted on the horizontal frame 631 are provided. As shown in FIGS. 30 to 32, these guide devices 66 are provided between the beams 632 at substantially constant intervals over substantially the entire length of the main body frame assembly 63, and are of the type shown in FIG. Is mainly disposed in the front portion and the rear portion of the main body frame assembly 63,
The type shown in (b) is arranged in the central portion of the main body frame assembly 63, and the type shown in (c) is arranged in a pair in the front and back with the drive device 68 of the shuttle beam 67 interposed therebetween. Each guide device 66 includes rollers 661 and 662 that support and guide both lower surfaces and both side surfaces of the shuttle beam 67, and in the type shown in (a), a roller 663 that guides the upper surface of the shuttle beam 67 is additionally provided. In the type shown in c), a roller 664 for guiding the upper surface is further provided. Each of these rollers is supported by the horizontal frame 631 of the main body frame assembly 63 via a bracket. A slight distance is provided between the roller 661 and the shuttle beam 67 sandwiched between the rollers 663 and 664.

A shuttle beam 67 extending over the entire length of the main body frame assembly 63 is placed on the guide device configured as described above. As shown in FIGS. 33 and 34, the shuttle beam 67 includes a pair of box-shaped beams 671 and a box-shaped cross beam 6 as well.
72 is connected at regular intervals and is configured like a ladder,
In particular, a rack having a rack tooth on the lower surface over a certain length on the lower surface of the intermediate portion in the longitudinal direction which constitutes the drive section.
673 is mounted via the mounting frame. As shown in FIGS. 35 to 37, the shuttle beam 67 is further provided with a support block 6 for supporting vertically movable pins 674 for carrying carriages at a pitch corresponding to the interval between process steps on the line.
75 are provided. Support block 675 pin vertical movement hole 6
A sliding guide bush 676 is fitted on 75a, while
A rotation stop notch 674a is formed on the left and right peripheral surfaces of the pin 674 fitted into the bush 676, and a rotation stop 675b engaging with the cutout 674a is fixed to the support block 675. The right end of the lower end of the transport pin 674 is largely cut away from the peripheral surface beyond the center position, and a pin roller 674c rolling on the pin roller guide 65 is attached to this notched space.

The drive device 68 for the shuttle beam 67 is arranged at the lower left floor level at the center of the main body frame assembly 63 in the longitudinal direction, and as shown in FIG. 38, is keyed to the right end side of its drive shaft 681. The pinion gear 682 is engaged with the rack teeth of the rack 673 of the shuttle beam 67 described above. The drive device 68 is a motor as shown in FIGS. 6 and 38.
The output of 683 is transmitted to the drive shaft 681 via the speed reducer 684, and the braking device 685 is attached on both sides of the speed reducer 684.

In the above-mentioned chevron notch 651 of the pin roller guide 65, there is a third
As shown in FIGS. 9 to 41, a pin shift mechanism 69 for positioning the carrying pin 674 at each process position is provided. This pin shift mechanism 69 is formed in a mountain shape in a plan view that engages with the cutout portion, a knuckle 691 formed in a U shape with a groove on a side portion in a front view, and an air cylinder 692 for operating the knuckle 691. The air cylinder 692 is mounted upright on the horizontal frame 631 of the main body frame assembly 63 via the bracket 693, and its rod is knuckle 691.
It is fixed to. The lower surface of the groove of the knuckle 691 functions as a supporting surface of the pin roller 674c of the transport pin 674.

With the transport pin shift mechanism 69 configured as described above,
When the carriage 5 is conveyed, the pin 674 engaged with the pin engagement hole 561 of the carriage 5 travels with its pin roller 674c placed on the upper surface of the pin roller guide 65. When the knuckle 691 is lowered by the operation of the air cylinder 692 when the pin 674 stops at the above-mentioned cutout 651, the pin 674 separates from the pin engaging hole 561 and the shuttle beam 67 and the carriage 5 are separated. The engagement is released. Then, in this state, when the shuttle beam 67 is retracted, the pin 674 descends and moves backward without interfering with the pin roller guide 65.
It is returned to the process position in front of the station. When the carriage 5 is conveyed, the air cylinder 692 of the pin shift mechanism 69 is lifted, and at that time, the pin 674 riding on the groove surface of the knuckle 691 is lifted as the knuckle 691 is lifted, and the pin roller guide 65 is guided. It is lifted to the same level as the surface to prepare for the next transfer operation of the shuttle beam 67.

According to such a pin shift mechanism 69, the carriage 5 and the shuttle beam 67 can be firmly connected only by the operation of the air cylinder 692 provided in the fixed portion, and the shuttle beam 67 that operates at high speed can be engaged and disengaged. Since a drive source, wiring, piping, etc. are not required at all, a strong and reliable engagement / disengagement mechanism is realized with a simple configuration.

As shown in FIG. 23, the carriage return path is provided below the carriage conveyance path. The carriage returning device 6b in the carriage returning path is composed of a chain conveyor 62, and the chain conveyor 62 has a main body frame assembly 63.
It is driven by a chain conveyor drive device 621 as shown in FIGS. The chain conveyor drive device will be described later together with the carriage return drive unit assembly.

FIG. 26 shows a general cross section of the chain conveyor 62, and guide rails of the chain conveyor are provided above and below a horizontal frame 634 located at the floor level of the main body frame assembly 63. The upper guide track is a chain sprocket provided at the front end of the body frame assembly 63.
622a and a pair of plate-shaped chain rails 623 extending between the chain sprockets 622b provided at the rear end of the main body frame assembly 63, and guide rollers of the carriage 5 that extend parallel to the outer sides of the pair of plate rails 623. L that contacts the outer surface of 55
It has a roller rail 624 made of shaped material. On the other hand, the lower guide track has a chain sprocket 622a also provided at the front end of the body frame assembly 63 and a chain sprocket 62 provided at the rear end of the body frame.
Horizontal frame 63 extending between 2b and at floor level
Chain receiving gutter 636, which is supported by a frame 635 suspended from 4 at regular intervals and is made of a U-shaped material with an open top.
And a chain rail 63 with a rectangular cross section arranged in the center
It has seven. Chain 625 with such a guide track
Is supported by an upper chain rail 623, is sent in the returning direction while mounting the cart 5 thereon, and is returned in the carrying direction while being supported by the lower chain rail 633.

A carriage return drive assembly 60 is provided at the rearmost end of the main body frame assembly 63. The carriage return drive assembly 60 is
As shown in FIGS. 42 to 45, a drive device 621 of the chain conveyor 62 for returning the carriage 5, a pushing device 60a for pushing the carriage 5 to the positioning device 4, and a stopper device 60b for restricting the movement of the carriage 5 are provided. There is. The drive device 621 of the chain conveyor 62 has a motor 626 installed in the main body frame assembly 63, a drive shaft 627 that transmits the rotation of the motor 626 via a chain and a sprocket, and is attached to the drive shaft. It has a pair of left and right drive sprockets 622b, and this pair of drive sprockets 622b is positioned on the extension line of the rear end of the chain rail 623 so that the uppermost end position of its outer circumference is aligned with the upper side of the chain rail 623. . Further, a guide sprocket 628 is installed so as to be adapted to the rear end of the lower chain rail 637, and a pulling device 629 equipped with a tension roller for giving a constant tension to the conveyor chain 625 is provided with the drive sprocket 622.
The pit is further dug between the b and the guide sprocket 628.

The pushing device 60a for pushing the carriage to the position adjusting device is composed of a pushing block 601a and a guide mechanism and a driving mechanism thereof. The extruding block 601a is shaped like a gate as shown in FIG. 45, and is provided with a pair of guide fittings 602a having a U-shaped cross section whose right side is open on the right side thereof. It is fitted to the guide rail 603a. The pushing block 601a is formed with a fork portion 604a that extends rearward from the rear end portion and opens downward.
A hoisting hook 605a is held between 4a. Falling hook 605a
Has a horizontal arm 606a whose rear end is rotatably supported by a fork 604a, has a mass balance 607a at its front end, and has a standing portion 608a at the rear end of the horizontal arm portion 606a. The front side of the fork part 604a of the extrusion block 601a
Although it is configured to keep the standing state of the raising and lowering hook 605a by contacting the rear end face, when the raising portion 608a is pressed backward, it is possible to move backward against the gravity of the mass balance 607a. .

The guide mechanism has a guide rail 603a to which the guide metal fitting 602a of the extrusion block fits. The guide rail 603 extends parallel to the length direction of the main body frame assembly 63, and the outside thereof is supported by the beam 609a. Beam 609a is 2 in front of it
The parts are supported by the base of the main body frame assembly 63 through the posts 601c, and the rear two parts are the sub base 60.
2c is also supported via a post 603c, and stoppers 604c and 605c formed of adjusting bolts are provided at the front and rear ends thereof.

The drive mechanism 60d is provided with a pair of chain sprockets 601c in the front and rear of the main body frame assembly 63 so as to sandwich the drive device 621 of the chain conveyor 62.
The 601d is rotatably supported by a support fork 603d attached to a post 602d provided upright on the base of the main body frame assembly 63 so as to be movable back and forth. The rear sprocket 601d is supported on a sub-base 602c attached to the rearmost end of the main body frame assembly 63 via a radial bearing 604d. And these front and rear chain sprockets
An endless chain 605d is suspended on 601c. A part of the upper side of the endless chain 605d is fixed to the lower surface of the gate-shaped portion of the pushing block 601a, and the pushing block 601a slides back and forth along the guide rail 603a as the chain 605d moves back and forth.

The stopper device 60b for restricting the movement of the carriage 5 is
It is installed in the main body frame assembly 63 with a front-rear spacing. The stopper device 60b includes an L-shaped hook 601b in a side view that can be retracted and retracted in the carriage track, and its front base end is pivotally attached to the upper end of a post 602b that is erected from the base of the main body frame assembly 63. Has been done. Hook 601b
An air cylinder 603b for moving the hook 601b in and out is interposed between the middle part of the post 602b and the middle part of the post 602b. The cylinder end of the air cylinder 603b is pivotally attached to the lower part of the post 602b and the rod end is the middle part of the hook 601b. Is pivotally attached to. The stopper device 60b configured in this manner functions to stop the carriage 5 that has returned through the return path against the driving force of the chain conveyor 62.

As an additional means, the carriage return drive assembly is provided with four support blocks 60e for supporting the carriage 5 that is no longer supported by the chain conveyor 62. These support blocks 60e are bolted to the uppermost outside of the post 601e standing on the sub base 602c.

In the carriage return drive assembly constructed in this way,
As shown in FIG. 23, the carriage 5 supported by the support plate 517 on the chain 625 and returned to the return path has a horizontal frame.
512 is pressed by the hook 601b of the front stopper device 60b and the hook 601b of the rear stopper device 60b,
They are prevented from returning. In such a state, the hook 601b of the rear stopper device 60b is lowered and at the same time the drive mechanism 60d is activated. Then, the extruding block of the extruding device 60a is driven backward, and the erecting hook 605a thereof is moved.
The push rod 58 of the rearmost truck 5 is pushed by the truck 5, and the truck 5 is supported by the support block 60e of the truck 5 while being attached to the pair of left and right guide beams 605c attached to the sub base 602c through the posts 604c. It is pushed into the positioning device 4 while being guided by the left and right guide rollers 55. Thus, the last truck 5
After pushing out, the hook 601 of the rear stopper device 60b
b is erected, and the hook 601b of the stopper device 60b on the front side is tilted. Then, the pushing block of the pushing device 60a is returned to the front, and when this returning operation is completed, the front stopper device
The hook 601b of 60b is erected. During the forward movement of this extrusion block, the next truck
Is driven to reach the rearmost position and is stopped by the hook 601b that has been erected in advance.

On the other hand, in the positioning device 4 that receives the dolly 5 thus pushed out, the dolly 5 is introduced with the supporting plate 517 supported by the dolly introduction roller 456 on the rail 452 of the rotary table 45 in the lowered position. The trolley 5 thus introduced travels while its wheels 54 are supported by the rails 452, and is stopped by a stopper erected at the rear end of the front-rear beam 453 to be completely placed on the positioning device 4. Becomes Then, next, the clamp pawl 460 is operated to engage with the notch 571 of the clamp pawl engagement block 57 of the carriage 5, and the positioning of the carriage 5 is completed.

When the body W is united and conveyed to the carriage 5 thus positioned, the pin roller guide plate 465 is extended to the horizontal position from the rotary table lowered to the conveyance position, and the shuttle beam 67 is fed. The rear end of this shuttle beam 67 is next set 45 of shuttle beam guide rollers.
Introduced in 8, the transport pin 674 reaches the position of the knuckle 466. Next, when the knuckle 466 is lifted, the transport pin 6
74 is engaged with the pin engagement hole 561 of the carriage 5.

Then, when the shuttle beam 67 starts to move forward for transportation, the pin roller 674c of the transportation pin 674 rolls on the pin roller guide extension portion 462, crosses the guide plate 465, and the pin roller guide 65 of the main body frame assembly 63. Transfer to.

In this way, the conveyor 6 is a shuttle conveyor.
High speed body W transportation by 61 and chain conveyor
Since the bogie 5 is smoothly returned by the 62, work efficiency can be improved by significantly shortening the time required to convey the body W to each work position, and the shuttle conveyor 61
By the arrangement of the upper and lower two layers of the chain conveyor and the chain conveyor 62,
It is also possible to obtain the effect of reducing the space required for transportation and return.

Next, Figs. 46 to 57 show a workpiece unloading device.
FIG. 46 is its left side view, FIG. 47 is its plan view, FIG. 48 is its front view, FIG. 49 is its left side view of its body receiving and elevating device, FIG. 50 is its front view, and FIG. FIG. 52 is a plan view thereof, FIG. 52 is a left side view of the carriage returning lifting device, FIG. 53 is its plan view, FIG. 54 is its rear view, FIG. 55 is its front view, and FIG. FIG. 57 is a left side view of the modified example, and FIG. 57 is a front view thereof.

As shown in FIGS. 46 to 48, the unloading device 7 is composed of a body receiving lifting device 7a and a carriage returning lifting device 7b.

First, the carriage returning / lifting device 7b is for lowering the carriage 5 from the track of the shuttle conveyor 61 for transportation to the returning path of the chain conveyor 62. As shown in FIGS.
It is composed of a dolly lifter 72b mounted on the b so as to be able to move up and down.

The pedestal 71b is installed in the most advanced pit of the conveyor 4 along the line as shown in FIG. 5, and is constructed by connecting upper and lower rectangular frames 711b having substantially the same width as the conveyor 4 with a vertical frame 712b. There is. A hydraulic cylinder 713b for vertically moving the frame assembly 721b of the truck lifter is vertically installed at the center of the upper frame 711b, and front and rear parts thereof are respectively elevating guides for guiding the guide rods 722b vertically provided on the lower surface of the frame assembly 721b. Bush 714b is installed.

The trolley lifter 72b has a structure in which the two-story trolley transport path and the trolley return path of the main body frame assembly 63 are gathered on the first floor, and a ladder-shaped frame having the same width as the main body frame assembly 63. A pair of left and right truck rails 725b are mounted on a large number of vertical frames 724b that are erected from the 723b. Between the pair of carriage rails 725b, a pin roller guide 726b is attached to a frame standing upright from the ladder-shaped frame 723b and extends. A pin-shaped cutout 451 is formed at the front end of the pin roller guide 726b.
A notch 727b similar to that is provided. A pin shift mechanism 728b having the same structure as the above-mentioned pin shift mechanism 69 and performing the same operation is provided in the cutout portion 727b.
Furthermore, between the carriage rails 725b, a ladder frame 723b
Is provided with four pairs of shuttle beam guide rollers 729b mounted via brackets. Further, a pair of front and rear stopper devices 730b are provided in the vicinity of the left truck rail 725b, and the stopper devices 730b are rotatable around a bracket attached to a ladder frame 723b and can be raised and lowered by a stopper arm 731b. And an air cylinder 732b for inclining and operating it. Of these stopper arms 731b, the front one is configured so that its arm tip is tilted forward from the standing position, and the rear one is also configured so that its arm tip is tilted backward from the standing position. When both stopper arms 731b stand upright, the bogie frame 51 of the bogie 5 is sandwiched between them. Further, inside the ladder-shaped frame 723b, a chain sprocket 733b is provided at the front end and the rear end of the ladder rail 725b on the right side thereof, and an endless chain mechanism having a chain drive mechanism 734b at the bottom lower surface of the frame. Is provided. And the chain 73 passed over these
A pusher 736b for moving the carriage 5 backward is attached to the 5b. In the figure, reference numeral 737b indicates a stopper rubber attached to the frame, and reference numeral 738b indicates a guide roller for guiding the support plate 517 of the carriage when it is returned.

FIGS. 56 and 57 show a modification in which a lifting synchronizing means is provided for preventing tilting of the truck lifter 72b in the front-rear direction when the truck lifts up and down. This means is hung from the ladder frame 723b 'from the front part and the rear part. Rack 739b (only rear one shown)
In addition, the pinion gears 741b attached to both ends of the synchronous shaft 740b rotatably supported by the mount 71b are engaged with each other. In this way, when the ascending / descending synchronization means is provided, the ascending / descending of the rack 739b due to the ascending / descending of the carriage lifter 72b is synchronized via the pinion gear 741b and the synchronization shaft 740b, so that the ascending / descending direction of the carriage lifter 72b during ascending / descending By preventing the inclination, it becomes possible to smoothly move up and down.

Next, the body receiving / lifting device 7a has a traveling table 72a that travels along a rail 71a installed in the pit, and a hydraulic cylinder 721a installed upright on the table 72a.
It has a body support table 73a that is moved up and down by a pair of right and left support forks 741a that are slidably supported on the table. The pair of support forks 741a is attached to the body receiving slide 74a and slidable along the guide of the body support table 73a, and its operation is performed by the air cylinder 731 attached to the body support table 73a.
performed by a.

A pair of front and rear guide rods 732a hung from the body support table 73a are provided.
2a is fitted and inserted into guide bushes 722a provided at the front and rear of a hydraulic cylinder 721a provided upright on the traveling table 72a.
Rack teeth 734a are provided on the rear side of the left and right guide rods 732a.
Are provided, and pinion gears 723a that mesh with the rack teeth are connected to each other by a tuning shaft 725a supported by a bearing 724a on the table. The frame that supports the rail 71a in the pit is provided with a power unit 711a for driving the traveling table 72a, which has a motor 712a, a brake 713a, a speed reducer 714a, and a pinion gear 715a. The pinion gear 715a is engaged with the teeth of a rack 726a which is attached to a bracket hanging from the traveling table 72a and extends horizontally in the front-rear direction. The traveling table 72a is surrounded by four frames, and a stopper 716a for restricting the forward and backward movement of the traveling table is attached to the frame.

In the unloading device 7 configured as described above, the carriage returning lifting device 7b and the body receiving lifting device 7a are arranged in combination as shown in FIG. 46, and the traveling path 81 of the slat conveyor 8 is further arranged on the unloading device 7. Combined as shown in Figure 48. Then, when the carriage 5 is sent out together with the shuttle beam 67 from the positioning device 4 when the carriage returning lifting device 7b is in the raised position, the carriage returning lifting device 7b of the carriage returning rail 633 of the main body frame assembly 63 is aligned. The bogie rail 725b receives the bogie 5, the shuttle beam 67 is guided by the shuttle beam guide roller pair 729b, and the bogie return lifting device is provided.
Shuttle beam 67 that entered into 7b and engaged with trolley 5
The pin roller 674c of the pin 674 rolls on the pin roller guide 726b to reach the chevron notch 727b. Pin 67 here
4, the carriage 4 is lowered, the engagement with the carriage 5 is released, and the pair of stopper arms 731b are erected so that the carriage 5 is clamped by the carriage returning lifting device 7b.

Next, the body support table 73a is raised while the body receiving slide 74a of the body receiving / lowering device 7a is slid inward and the distance between the support forks 741a is narrowed. Therefore, the truck lifter of the truck return lifting device 7b
72b is lowered, and in the middle of the lowering, the carriage 5 is separated from the carriage 5 in which only the body W is supported by the support fork 741a while being clamped to the carriage rail 725b. On the other hand, the dolly lifter 72b continues to descend, and eventually reaches a level that matches the return path of the main body frame assembly 63. Then, this time, the trolley 5 is unclamped by the stopper arm 731b, the chain drive mechanism 734b operates, and the pusher 736b moves backward while pushing the trolley 5. By this backward movement, the carriage 5 is moved from the carriage rail 725b of the carriage lifter 72b onto the chain conveyor track of the main body frame assembly 63, the supporting plate 517 thereof is supported by the chain, and the left and right guide rollers 55 are guided to the roller rail 624. And go back on the return route.

On the other hand, the body receiving and elevating device 7a that has received the body W is
While maintaining the body support table 73a position as it is,
It travels forward and moves to a position where it does not interfere with the bogie return lifting device 7b. Then, the body support table 73a is lowered, and when the body W is supported by the slat conveyor 8 via the tires already attached, the fork 741a is opened to the left and right, and is moved on the slat conveyor 8 to move. It is escaped from the position where the body W interferes with the tire. When such a series of operations is completed, the unloading device 7 is returned to the original position again.

Finally, for each device in the embodiment of the present invention, in order to clarify the related accurate operation timing of each device, FIG. 58 shows an operation cycle diagram of the entire device,
Instead of the operation description of the series of devices.

Although the present invention has been described by taking the positioning of an automobile body as an example, the present invention is not limited to this. For example, a small pallet may be used to assemble an engine or other various products. It is applicable to positioning during assembly.

[Effect of device]

As described in detail above, according to the transported object positioning apparatus of the present invention, the following effects and advantages can be obtained.

(1) The pallet on which the transported object is placed is provided on the rotary table at a predetermined position of the rotary table that can be moved in the left-right, front-rear, and up-down directions in the line transport direction by the horizontal movement frame, the front-back table, and the lifting table. Since it is configured to be held at a predetermined position on the rotary table by the rails and the trolley clamp device, the rotary table is moved to pallet the work so that it is aligned with the position of the work carried by the table lifter. Can be received in place.

(2) Since the rotary table holding the pallet on which the work is placed is positioned by performing posture adjustment to a predetermined position where the pallet is transferred to the transfer device for step-transferring the pallet by the shuttle beam, the work is directly position-regulated or the like. As compared with the case where the posture is corrected by pressing with, the stress is not applied to the work due to the posture correction, and the damage of the conveyed object can be prevented.

(3) It is possible to raise the carrying pin from the shuttle beam and engage the engagement hole of the pallet to connect the shuttle beam and the pallet, and the shuttle beam can reliably and accurately draw the pallet into the carrying device. Become.

[Brief description of drawings]

FIG. 1 is a procedure explanatory view conceptually showing an operation in a processing line to which a conveyed object positioning apparatus as an embodiment of the present invention is applied, FIG. 2 is a block diagram thereof, FIG. 3 is an overall plan view thereof, and FIG. FIG. 4 is a right side view thereof, FIG. 5 is a left side view of the carrying section, FIG. 6 is a plan view thereof, FIG. 7 is a rear view thereof, FIG. 8 is a front view thereof, and FIGS. FIG. 9 shows a table lifter. FIG. 9 is its front view, FIG. 10 is its left side view, FIG. 11 is its plan view, FIG. 12 is its partially enlarged rear view, and FIG. 12 is a sectional view taken along the line XIII-XIII in FIG.
4 to 16 show a vehicle body position measuring device, FIG. 14 is its plan view, FIG. 15 is its right side view, FIG. 16 is its rear view, and FIGS. 17 to 19 show the present invention. FIG. 17 shows a conveyed object positioning device as one embodiment, and FIG.
Fig. 18 is its rear view and Fig. 19 is its plan view.
FIG. 22 shows a truck as a pallet, FIG. 20 is its left side view, FIG. 21 is its plan view, FIG. 22 is its rear view, and FIGS. Is shown,
FIG. 23 is a rear view of the main body frame assembly, FIG. 24 is a rear view of a part thereof, FIG. 25 is a plan view thereof, FIG. 26 is a rear view of another part thereof, and FIG. A rear view of the shuttle lock of the shuttle conveyor, FIG. 28 is its plan view, FIG. 29 is its left side view, FIG. 30 is its left side view of its shuttle beam guide, and FIG. 31 is its plan view. 32 is its rear view, FIG. 33 is a plan view of the shuttle beam, FIG. 34 is its rear view, FIG. 35 is a plan view of other parts, FIG. 36 is its rear view, and FIG. 37 is 38 is a side view thereof, FIG. 38 is a rear view of the shuttle beam driving device, FIG. 39 is a rear view of the positioning pin shift mechanism, FIG. 40 is a plan view thereof, and FIG.
FIG. 41 is a left side view thereof, FIG. 42 is a left side view of the carriage returning drive device, FIG. 43 is a plan view thereof, FIG. 44 is a sectional view taken along the line XLIV-XLIV of FIG. 43, and FIG. The figure is its rear view,
46 to 57 show a workpiece unloading device, FIG. 46 is a left side view thereof, FIG. 47 is a plan view thereof, FIG. 48 is a front view thereof, and FIG. Left side view of the device,
FIG. 50 is its front view, FIG. 51 is its plan view, and FIG.
FIG. 53 is a left side view of the bogie returning lifting device, FIG. 53 is a plan view thereof, FIG. 54 is a rear view thereof, FIG. 55 is a front view thereof, and FIG. 56 is a left side view of a modification thereof. 57 is a front view thereof, FIG. 58 is an operation cycle diagram of an embodiment of the present invention, FIGS. 59 to 62 show a conventional work positioning device, and FIG. A conceptual diagram, FIG. 60 is a side view thereof, FIG. 61 is a front view thereof, and FIG. 62 is a partially enlarged side view thereof. 1 ... Overhead conveyor, 2 ... Table lifter, 3 ... Vehicle position measuring device, 3a ... BL measuring device, 3b ...
... HL measuring device, 4 ... Positioning device, 5 ... Pallet as a pallet, 6 ... Post-process conveyor, 7 ... Wholesale device, 7a ... Body receiving lifting device, 7b ... Bogie returning lifting device, 8 …… Slat conveyor, 11 …… Hanger, 21 ……
Fork, 22 ... Post, 23 ... Side beam, 24 ... Tilt prevention arm, 25 ... Hanger opening device, 26 ... Elevating drive device, 32a, 32b ... Magnetic scale, 41 ... Base as base Frame, 42 ... Lateral movement frame as a moving table, 43 ... Forward / backward moving table as a moving table, 44 ... Lifting table, 45 ...
Rotating table, 452 ... Rail as a mounting part, 460 ...
Clamp claws as pallet restraint means, 51 ... carriage frame, 52a to 52c ... body receiver, 53 ... positioning pin, 54
...... Wheels, 55 ...... Guide rollers, 56 ...... Conveying pin engaging bushes, 57 ...... Clamp claw engaging blocks, 58 …… Pressing rods, 60 …… Bogie return drive assembly, 60a …… Extrusion device , 60b …… Stopper device, 60d …… Drive mechanism, 60e ……
Support block, 61 …… Shuttle conveyor, 62 …… Chain conveyor, 63 …… Main body frame assembly, 64 …… Bogie lock, 64a …… Main body, 64b …… Clamp, 65 …… Pin roller guide, 66 …… Guide Device, 67 …… Shuttle beam, 68
...... Driving device, 69 ...... Pin shift mechanism, 71b …… Mounting stand, 7
2a …… Running table, 72b …… Bogie lifter, 73a …… Body support table, 74a …… Body receiving slide, W ……
Body as goods, C ... pallet.

Claims (1)

(57) [Scope of utility model registration request] 1. A transferred object positioning device installed between a table lifter 2 and a transfer device 6a for step-transferring a pallet by a shuttle beam which is moved back and forth in a transfer direction, and a base frame (41) as a base. And a horizontal movement frame (42) supported on the base frame (41), a longitudinal movement table (43), a lifting table (44), and an upright position at the center of the lifting table (44). And a pallet (5) provided on the upper surface of the rotary table (45) and extending in the transport direction, and a movable table configured to include a rotary table (45) rotatably supported via a shaft (443). (452) as a support device for the same, a clamp claw (460) provided on the rotary table (45) for clamping the pallet (5) placed on the rail (452), and an operating cylinder thereof. From (461) And a shuttle beam guide roller (458) provided on the rotary table (45) as a guide device for the shuttle beam (67). The posture and the position of the conveyed object carried into the table lifter (2) on the frame (42), the forward-backward movement table (43) and the rotary table (45) are measured by a conveyed object attitude measuring device. Depending on the measurement results of the inclination with respect to the reference axis BL and the deviation with respect to the reference position line TL, the lateral movement frame, the back-and-forth moving table, and the rotary table are moved from the reference posture and the reference position to the left, right, front, back, and rotation, respectively. Drive device (413,42 for returning to the reference posture and reference position of
3, 445) are provided, and the lifting table (44) is moved up and down together with the rotary table (45) to transfer the transported object from the table lifter (2) to the rotary table (45), and then the transport table is transported. A hydraulic cylinder (433) for holding the position is provided in the forward / backward movement table (43), and an engagement hole (561) capable of engaging the shuttle beam transfer pin (674) is provided in the pallet (5). An article positioning device, characterized in that it is provided in the.